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<h1>mdl_quadcopter</h1><p><span class="helptopic">Dynamic parameters for a quadcopter.</span></p><pre style="width: 90%%;" class="examples">
mdl_quadcopter
</pre>
<p>
Script creates the workspace variable quad which describes the
dynamic characterstics of a quadcopter.

</p>
<h2>Properties</h2>
<p>
This is a structure with the following elements:

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> J </td> <td>Flyer rotational inertia matrix (3x3)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> h </td> <td>Height of rotors above CoG (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> d </td> <td>Length of flyer arms (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> nb</td> <td>Number of blades per rotor (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> r </td> <td>Rotor radius (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> c </td> <td>Blade chord (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> e </td> <td>Flapping hinge offset (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Mb</td> <td>Rotor blade mass (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Mc</td> <td>Estimated hub clamp mass (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> ec</td> <td>Blade root clamp displacement (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Ib</td> <td>Rotor blade rotational inertia (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Ic</td> <td>Estimated root clamp inertia (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> mb</td> <td>Static blade moment (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Ir</td> <td>Total rotor inertia (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Ct</td> <td>Non-dim. thrust coefficient (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> Cq</td> <td>Non-dim. torque coefficient (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> sigma</td> <td>Rotor solidity ratio (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> thetat</td> <td>Blade tip angle (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> theta0</td> <td>Blade root angle (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> theta1</td> <td>Blade twist angle (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> theta75</td> <td>3/4 blade angle (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> thetai</td> <td>Blade ideal root approximation (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> a </td> <td>Lift slope gradient (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> A </td> <td>Rotor disc area (1x1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> gamma</td> <td>Lock number (1x1)</td></tr>
</table>
<h2>References</h2>
<ul>
  <li>Design, Construction and Control of a Large Quadrotor micro air vehicle.
P.Pounds, PhD thesis,
Australian National University, 2007.
http://www.eng.yale.edu/pep5/P_Pounds_Thesis_2008.pdf</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc sl_quadcopter">sl_quadcopter</a></p>
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